The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2012
Session ID : 2A2-S10
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2A2-S10 Superimposing the Image of the Hidden Working Area for Forceps Cannula(Surgical Robotics and Mechatronics (1))
Yuya NISHIOYo KOBAYASHIKazuya KAWAMURAHiroto SENOTakehiko NOGUCHIKazutaka TOYODASatoshi IEIRIMakoto HASHIZUMEMasakatsu G. FUJIE
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Abstract
Recently, small incision pediatric surgeries have been widely performed due to their minimally invasiveness. However, they make it difficult for surgeons to manipulate surgical tools. Robotic assist is required to reduce the workload for surgeons. Single port endoscopic surgery (SPS) assist robot we have developed is important option for it. It enables surgeons to perform precise operation using its tool manipulators. However, the operative field of a child is so tight that manipulators are limited for range of movement and hide working area from their view. We proposed the compensation method that complements the view by superimposing the image taken with added endoscope on forceps region of view. This paper presents a basic evaluation for validity of proposal method. In the experiment, delay time and resultant error of complemented image satisfied requirement specifications. In addition, we heard views of a pediatric surgeon on it.
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© 2012 The Japan Society of Mechanical Engineers
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